version: 66.11
glider: 194
mission: 7
dive: 15
start: 10 27 113 20 25 58
data:
$ID,194
$MISSION,7
$DIVE,15
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,390
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,58592
$MASS_COMP,3867
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,13
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,280
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4326.7549
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,199
$PITCH_MAX,3894
$C_PITCH,2807
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23.200001
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,291
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2263
$C_ROLL_CLIMB,2355
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2400
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-53.385216
$PRESSURE_SLOPE,0.0001158091
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.223
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044109076
$SEABIRD_T_H,0.00064730842
$SEABIRD_T_I,2.664891e-05
$SEABIRD_T_J,3.309405e-06
$SEABIRD_C_G,-9.5383005
$SEABIRD_C_H,1.0995622
$SEABIRD_C_I,-0.0013844616
$SEABIRD_C_J,0.00017264462
$GPS1,271013,201704,4713.086,-12516.251,31,1.0,31,16.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-56.3
$GPS2,271013,202531,4713.083,-12516.312,5,0.9,6,16.7
$SPEED_LIMITS,0.084,0.260
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4715.000,-12530.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.255,0.053
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,265.0,17571,-17.5,-10.000,-21.03,2226
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.75,-146.6,112,2247,836,740,0.0,0.0,0,80,0.00,0.00,-63.55,0.000,16386,0.000,0.000,110,2247,2580,2586,2575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.75,-146.6,110,2247,2588,2573,3.4,-4.6,6,111,9.00,2.33,-9.73,0.000,18692,0.200,0.067,2549,3667,3000,3067,2933,0,0,0,0,0,0,25.55,25.86,26.22
$GC,409,-0.75,-146.6,2549,3667,3069,2933,60.6,-12.0,38,418,0.00,2.10,0.00,0.000,1030,0.000,0.029,2550,2264,3001,3069,2933,0,0,0,0,0,0,28.83,26.15,28.83
$GC,719,-0.75,-146.6,2549,2263,3070,2934,91.2,-10.5,64,725,0.00,2.17,0.00,0.000,516,0.000,0.044,2549,866,3001,3069,2933,0,0,0,0,0,0,28.83,26.21,28.83
$GC,861,-0.75,-146.6,2549,866,3070,2933,108.6,-12.5,71,866,0.00,2.17,0.00,0.000,1030,0.000,0.042,2539,2266,3001,3070,2933,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1181,-0.75,-146.6,2539,2265,3070,2933,141.8,-9.4,87,1187,0.00,2.17,0.00,0.000,260,0.000,0.050,2528,3666,3002,3070,2934,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1291,-0.75,-146.6,2528,3666,3070,2933,151.7,-10.0,92,1295,0.12,2.10,0.00,0.000,3078,0.147,0.030,2562,2249,3001,3070,2933,0,0,0,0,0,0,26.20,26.40,28.83
$GC,1599,-0.75,-146.6,2562,2248,3070,2933,180.4,-9.1,102,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2248,3001,3070,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1898,-0.75,-146.6,2562,2248,3069,2933,208.3,-9.4,112,1903,0.00,2.22,0.00,0.000,260,0.000,0.051,2554,3670,3001,3070,2933,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1989,-0.75,-146.6,2553,3670,3070,2932,217.3,-9.7,115,1995,0.00,2.10,0.00,0.000,1030,0.000,0.031,2554,2260,3001,3070,2932,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2319,-0.75,-146.6,2553,2260,3070,2932,246.3,-8.4,126,2325,0.00,2.15,0.00,0.000,516,0.000,0.045,2554,855,3001,3070,2932,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2371,-0.75,-146.6,2553,855,3070,2932,248.8,-8.4,127,2380,0.00,2.22,0.00,0.000,1030,0.000,0.044,2544,2257,3001,3070,2932,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2679,-0.75,-146.6,2544,2257,3070,2931,278.9,-9.3,138,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2257,3000,3070,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3009,-0.75,-146.6,2544,2257,3070,2930,307.4,-8.3,148,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2257,2999,3070,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3311,-0.75,-146.6,2544,2257,3070,2929,333.4,-8.7,153,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2257,2999,3070,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3611,-0.75,-146.6,2544,2258,3070,2928,361.4,-9.4,158,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2257,2999,3070,2928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3909,-0.75,-146.6,2544,2257,3070,2927,389.0,-9.2,163,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2257,2998,3070,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4209,-0.75,-146.6,2544,2257,3070,2927,416.2,-9.0,168,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2257,2998,3070,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4510,-0.75,-146.6,2544,2257,3070,2926,442.1,-8.6,173,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2257,2998,3070,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4810,-0.75,-146.6,2544,2257,3070,2925,467.1,-8.4,178,4816,0.00,2.12,0.00,0.000,516,0.000,0.047,2544,881,2997,3070,2925,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4870,-0.75,-146.6,2544,880,3070,2925,472.2,-8.3,179,4875,0.00,2.12,0.00,0.000,1030,0.000,0.045,2537,2258,2997,3070,2925,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5229,-0.75,-146.6,2537,2258,3070,2924,500.0,-7.6,185,5235,0.00,2.20,0.00,0.000,260,0.000,0.053,2527,3674,2996,3070,2923,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5363,-0.75,-146.6,2527,3674,3069,2923,509.6,-7.8,187,5368,0.12,2.10,0.00,0.000,3078,0.136,0.032,2564,2255,2996,3070,2923,0,0,0,0,0,0,26.49,26.66,28.83
$GC,5707,-0.75,-146.6,2564,2255,3070,2922,532.7,-6.4,193,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2255,2996,3070,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6008,-0.75,-146.6,2564,2255,3070,2922,552.5,-6.5,198,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2255,2996,3070,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6306,-0.75,-146.6,2564,2254,3070,2921,572.1,-6.6,203,6312,0.00,2.10,0.00,0.000,516,0.000,0.048,2564,882,2995,3070,2921,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6342,-0.75,-146.6,2564,882,3070,2921,572.1,-6.6,203,6347,0.00,2.15,0.00,0.000,1030,0.000,0.047,2560,2270,2995,3070,2921,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6667,-0.75,-146.6,2560,2270,3069,2920,597.7,-7.2,209,6672,0.00,2.15,0.00,0.000,260,0.000,0.054,2556,3663,2995,3070,2920,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6753,-0.75,-146.6,2556,3662,3070,2920,602.1,-7.2,210,6758,0.00,2.08,0.00,0.000,1030,0.000,0.033,2556,2265,2994,3069,2920,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7088,-0.75,-146.6,2556,2265,3069,2919,628.0,-7.1,216,7093,0.00,2.17,0.00,0.000,260,0.000,0.054,2556,3667,2994,3069,2919,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7147,-0.75,-146.6,2556,3667,3069,2919,632.2,-7.1,217,7153,0.00,2.08,0.00,0.000,1030,0.000,0.033,2556,2262,2994,3069,2919,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7506,-0.75,-146.6,2555,2262,3069,2919,656.9,-6.8,223,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2262,2994,3070,2919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7807,-0.75,-146.6,2556,2262,3069,2918,676.7,-6.5,228,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2262,2993,3069,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8108,-0.75,-146.6,2556,2262,3069,2918,697.5,-7.0,233,8113,0.00,2.17,0.00,0.000,260,0.000,0.054,2547,3663,2993,3069,2918,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8220,-0.75,-146.6,2546,3663,3069,2918,701.9,-7.0,234,8228,0.00,2.15,0.00,0.000,1030,0.000,0.034,2547,2253,2993,3069,2918,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8529,-0.75,-146.6,2546,2253,3069,2918,727.7,-7.2,240,8534,0.00,2.12,0.00,0.000,516,0.000,0.049,2547,873,2993,3069,2918,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8570,-0.75,-146.6,2546,873,3069,2917,727.7,-7.2,240,8574,0.00,2.17,0.00,0.000,1030,0.000,0.046,2543,2271,2993,3069,2917,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8883,-0.75,-146.6,2543,2271,3069,2918,751.9,-6.7,246,8888,0.00,2.15,0.00,0.000,260,0.000,0.054,2538,3661,2993,3069,2918,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8991,-0.75,-146.6,2537,3661,3069,2917,756.1,-6.6,247,8995,0.00,2.08,0.00,0.000,1030,0.000,0.034,2537,2261,2993,3069,2917,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9300,-0.75,-146.6,2537,2261,3069,2917,780.2,-6.7,252,9305,0.00,2.15,0.00,0.000,516,0.000,0.049,2537,866,2993,3070,2917,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9337,-0.75,-146.6,2537,866,3069,2917,780.2,-6.7,252,9341,0.00,2.17,0.00,0.000,1030,0.000,0.047,2537,2267,2993,3069,2917,0,0,0,0,0,0,28.83,26.64,28.83
$GC,9654,-0.75,-146.6,2536,2268,3069,2917,802.7,-6.2,258,9655,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2268,2993,3069,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9956,-0.75,-146.6,2537,2268,3069,2917,823.0,-6.8,263,9961,0.00,2.17,0.00,0.000,260,0.000,0.055,2537,3667,2993,3069,2917,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10032,-0.75,-146.6,2537,3667,3069,2917,827.4,-6.9,264,10036,0.00,2.10,0.00,0.000,1030,0.000,0.034,2537,2256,2993,3069,2917,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10370,-0.75,-146.6,2537,2256,3069,2916,851.6,-6.7,270,10371,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2256,2993,3069,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10670,-0.75,-146.6,2536,2256,3069,2917,870.8,-6.4,275,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2255,2993,3069,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10971,-0.75,-146.6,2537,2255,3069,2916,890.5,-6.6,280,10977,0.00,2.20,0.00,0.000,260,0.000,0.056,2537,3665,2992,3069,2916,0,0,0,0,0,0,28.83,26.59,28.83
$GC,11030,-0.75,-146.6,2537,3666,3069,2916,894.5,-6.6,281,11035,0.00,2.10,0.00,0.000,1030,0.000,0.034,2537,2259,2992,3069,2916,0,0,0,0,0,0,28.83,26.70,28.83
$GC,11390,-0.75,-146.6,2537,2259,3069,2916,918.6,-6.7,287,11391,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2259,2992,3069,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11690,-0.75,-146.6,2537,2258,3069,2916,939.5,-7.0,292,11691,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2259,2992,3069,2916,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11749,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11749,begin apogee
$GC,11753,-0.22,0.0,2537,2364,3069,2916,943.7,-6.9,293,11873,0.55,0.00,116.03,1.193,10246,0.090,0.000,2734,2364,2400,2463,2338,0,0,0,0,0,0,26.52,28.83,23.66
$STATE,11874,end apogee,CONTROL_FINISHED_OK
$STATE,11874,begin climb
$GC,11876,0.75,146.6,2734,2364,2463,2337,947.1,0.0,295,12008,0.85,2.45,124.70,1.173,10756,0.033,0.048,3097,965,1801,1858,1745,0,0,0,0,0,0,24.72,24.17,23.28
$GC,12032,0.75,146.6,3097,965,1852,1744,943.9,6.0,297,12037,0.15,2.38,0.00,0.000,5126,0.135,0.044,3052,2340,1798,1852,1744,0,0,0,0,0,0,24.51,24.62,28.83
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$STATE,19251,end climb,SURFACE_DEPTH_REACHED
$STATE,19251,begin surface coast
$FINISH,0.6,1.024017
$STATE,19282,end surface coast,CONTROL_FINISHED_OK
$STATE,19282,begin surface
$SM_CCo,19296,17.77,0.060,0,0,1257,280.13
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$IRIDIUM_FIX,4654.38,-12514.58,271013,202023
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.03
$INTERNAL_PRESSURE,8.92837
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,23.3,3.839
$10V_AH,10.3,3.459
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,311212
$DATA_FILE_SIZE,40322,532
$CAP_FILE_SIZE,148251,0
$CFSIZE,2097872896,2093645824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,281013,014904,4713.757,-12519.956,37,1.0,37,16.7